Robust adaptive control for hydraulic servosystems


Plummer, A. R. and Vaughan, N. D., 1996. Robust adaptive control for hydraulic servosystems. Journal of Dynamic Systems Measurement and Control - Transactions of the ASME, 118 (2), pp. 237-244.

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The application of an indirect (self-tuning) adaptive controller to an electro-hydraulic positioning system is described. The underlying control method is pole placement, with the addition of a demand filter to allow noise effects to be reduced without degrading closed-loop performance. Recursive least squares is used to estimate the plant parameters, but the data is pre-filtered to reduce bias. A novel covariance trace limiting algorithm provides estimator reliability despite periods of insufficient excitation. Off-line system identification is employed to help controller design for the electro-hydraulic servosystem. The resulting controller performs well, and adapts rapidly to changes in load stiffness and supply pressure.


Item Type Articles
CreatorsPlummer, A. R.and Vaughan, N. D.
DepartmentsFaculty of Engineering & Design > Mechanical Engineering
ID Code13715


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